########################################
# AGV STATUS 
# workState
uint8 IS_IDLE = 0
uint8 IS_NAVIGATE = 1
uint8 IS_IN_OP = 2
# wheelMoveDir
uint8 FORWARD_MOVE = 0
uint8 BACKWARD_MOVE = 1
# trajType
int8 TRAJ_UNDEFINED = -1
int8 TRAJ_LINE =  0
int8 TRAJ_BEZIER =  1
int8 TRAJ_SIDE =  2
int8 TRAJ_SPIN =  3
# locateType
uint8 LOC_UNKNOWN= 0
uint8 ON_STATIC_NODE = 1
uint8 ON_DYN_PATH = 2
# idle  缓冲区里无任务当前也无执行的任务则为空闲
# rackFollowUp 托盘随动
# 0:关闭 1:开启
# navigationType
# 0:laser 1:qr 2:laser+qr
# bits
# 0~15 地图路径和节点的属性
#######################################
# Messages！！！#
#######################################
std_msgs/Header header
uint64 taskid
uint32 subtaskid
uint32 fromnode
uint32 tonode
float32 fprogress
float32 fprogpercent
float32 curpst_x
float32 curpst_y
float32 curpst_t
float32 curvel_x
float32 curvel_z
uint8 vellevel
float32 fdevprog  #x方向上进度误差
float32 fdev  #y方向上 横向误差
float32 fdevthita #角度方向误差
float32 fquality
int32 event
uint8 workstate
uint8 wheelmovedir
int8 trajtype
uint8 locatetype
string scenes
string task_node_id     #任务目标节点id
string task_action_type #任务目标点动作类型
uint16 bits
uint16 pointbits  #在点上发布点bits(经过点瞬间也会更新一次，出了点清除 )
int32 word1  #目标工位点的数据
int32 word2
int32 pathword1  #实时运行路段的数据
int32 pathword2
uint8 rackfollowup
uint8 navigationtype
bool driving
bool startdelay  #车辆即将启动信号  
bool paused
bool idle
string orderidnew  #最近的订单信息
uint32 orderupdateidnew
string nodeidnew

bool   opentrace   #是否开启巡线
int8   branch      #巡线开启时，选择分歧类型(-1:left 0:middle 1:right)
float32 trace_add_dis #巡线时，添加距离
bool open_fw  #是否开启前轮反馈模式
#目标停车点
int8    stoptrajtype   #目标停车路段轨迹类型(参考枚举类型)
uint32  stopstartnode  #目标停车路段起点 无效值65535
uint32  stopendnode    #目标停车路段终点 无效值65535
float32 stopvel        #目标停车路段速度(应该始终为0)